{"title":"用于捕捉移动物体的可变刚度关节的控制","authors":"A. Bhole, J. Kumle, S. S. Groothuis, R. Carloni","doi":"10.1109/IROS.2017.8206350","DOIUrl":null,"url":null,"abstract":"The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"9 1","pages":"4756-4761"},"PeriodicalIF":0.0000,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Control of a variable stiffness joint for catching a moving object\",\"authors\":\"A. Bhole, J. Kumle, S. S. Groothuis, R. Carloni\",\"doi\":\"10.1109/IROS.2017.8206350\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.\",\"PeriodicalId\":6658,\"journal\":{\"name\":\"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"volume\":\"9 1\",\"pages\":\"4756-4761\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-09-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2017.8206350\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2017.8206350","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control of a variable stiffness joint for catching a moving object
The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.
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